Determining and providing vehicle conditions and capabilities

ABSTRACT

A transponder module for vehicles. The module has a substantially universal vehicle sensor input interface capable of receiving sensor input from different types of vehicle sensors and from different types of vehicles. One or more processors and memory, in real time, receive vehicle sensor input data via the input interface. Based on a vehicle type stored in the memory, the processor(s) use the sensor input data to determine conditions of subsystems the vehicle. Based on the determined conditions, the processor(s) determine performance capabilities of the vehicle. The transponder module outputs information as to the stored vehicle type, determined conditions, and vehicle performance capabilities.

FIELD

The present disclosure relates generally to vehicle systems and moreparticularly (but not exclusively) to providing informationsubstantially in real time as to vehicle conditions and capabilities,e.g., for use in vehicle control and/or mission planning.

BACKGROUND

The statements in this section merely provide background informationrelated to the present disclosure and do not necessarily constituteprior art.

Transponders are commonly used to communicate information from aircraft,automobiles and trucks and ships. For example, mode-S aircrafttransponders are installed on many types of aircraft to communicatebasic identification and location information. Automatic IdentificationSystem (AIS) ship transponders may provide identification, ship type,position, course, and speed. Automobile RFID systems may be used intrucks and cars, e.g., to provide identification information fortracking and toll collection.

SUMMARY

The present disclosure, in one implementation, is directed to atransponder module for vehicles. The module has a substantiallyuniversal vehicle sensor input interface capable of receiving sensorinput from a plurality of different types of vehicle sensors and from aplurality of different types of vehicles. One or more processors andmemory are configured to, in real time: receive vehicle sensor inputdata via the input interface; based on a vehicle type when stored in thememory, use the sensor input data to determine conditions of a pluralityof subsystems of a vehicle of the stored vehicle type; and based on thedetermined conditions, determine a plurality of performance capabilitiesof a vehicle of the stored vehicle type. The transponder module isfurther configured to output information as to the stored vehicle type,determined conditions, and vehicle performance capabilities.

In another implementation, the disclosure is directed to a system fordetermining vehicle conditions and capabilities. The system includes avehicle having a plurality of sensors and a transponder module connectedwith the sensors via a substantially universal vehicle sensor inputinterface of the module. The transponder module has one or moreprocessors and memory configured to, in real time: receive vehiclesensor input data via the input interface. Based on a type of thevehicle stored in the memory, the transponder module uses the sensorinput data to determine conditions of a plurality of subsystems of thevehicle. Based on the determined conditions, the transponder moduledetermines a plurality of performance capabilities of the vehicle. Thetransponder module is further configured to output information as to thestored vehicle type, determined conditions, and vehicle performancecapabilities. The system further includes one or more control systemsconfigured to perform one or more control functions based on thetransponder module output information.

In another implementation, the disclosure is directed to a vehicleincluding a plurality of sensors, an integrated vehicle healthmanagement (IVHM) system, and a transponder module. The transpondermodule has a vehicle sensor input interface that receives sensor inputfrom a plurality of different sensors of the vehicle. One or moreprocessors and memory of the transponder module are configured to, inreal time, receive sensor input data from the vehicle via the inputinterface, use the sensor input data to determine conditions of aplurality of subsystems of the vehicle, and based on the determinedconditions and on data provided by the IVHM system, determine aplurality of performance capabilities of the vehicle.

In yet another implementation, the disclosure is directed to a method ofproviding conditions and capabilities of a vehicle. The method isperformed by a transponder module of the vehicle. The method includesreceiving sensor information in real time from a plurality of sensors ofthe vehicle. Based on a type of the vehicle stored in a memory, thesensor information is used to determine current and/or projectedconditions of a plurality of subsystems of the vehicle. Based on thedetermined conditions and on data from an integrated vehicle healthmanagement (IVHM) system of the vehicle, a plurality of current and/orprojected capabilities of the vehicle are determined.

In still another implementation, the disclosure is directed to a methodof using one or more vehicles to perform a mission. The method includesreceiving, from a transponder module of each of the vehicle(s),information describing a plurality of current subsystem conditions and aplurality of current capabilities of each vehicle. The information isused in real time to update conditions and capabilities for each vehiclein a mission capabilities matrix. Based on the updated matrix, one ormore of the following are performed: control of at least a component ofone of the vehicle(s); modification of a task of one of the vehicle(s);and modification of the mission.

In yet another implementation, the disclosure is directed to a systemfor performing a mission. The system includes a plurality of vehicles towhich one or more tasks of the mission are assigned. Each vehicle has atransponder module configured to provide information in real timedescribing a plurality of current subsystem conditions and a pluralityof current capabilities of the vehicle. A mission control system has atleast one processor and memory configured to receive the information inreal time from the vehicle transponder modules, and based on theinformation, to perform one or more functions in real time to optimizethe mission.

Further areas of applicability will become apparent from the descriptionprovided herein. It should be understood that the description andspecific examples are intended for purposes of illustration only and arenot intended to limit the scope of the present disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described herein are for illustration purposes only and arenot intended to limit the scope of the present disclosure in any way.

FIG. 1 is a diagram of a transponder module in accordance with oneimplementation of the disclosure;

FIG. 2 is a diagram of models used by transponder module processor(s) ina method of determining aircraft conditions and capabilities inaccordance with one implementation of the disclosure;

FIG. 3 is a diagram of a vehicle in which transponder module informationis used in accordance with one implementation of the disclosure;

FIGS. 4 and 5 are diagrams illustrating use of transponder moduleinformation off-board a vehicle in accordance with one implementation ofthe disclosure;

FIG. 6 is a diagram illustrating use of transponder module informationto support autonomous operations of a plurality of vehicles inaccordance with one implementation of the disclosure;

FIG. 7A is a diagram illustrating distribution of transponder modulefunctions between a vehicle and a system off-board the vehicle inaccordance with one implementation of the disclosure,

FIG. 7B is a diagram illustrating distribution of transponder modulefunctions between subsystems of a vehicle in accordance with oneimplementation of the disclosure;

FIG. 8 is a diagram of a mission control hierarchy that uses transponderinformation in a planning function that assigns tasks and issuescommands to vehicles in accordance with one implementation of thedisclosure; and

FIG. 9 is a diagram illustrating transponder information for a pluralityof vehicles in a matrix useful in optimization of tasking and control ofvehicles in accordance with one implementation of the disclosure.

DETAILED DESCRIPTION

The following description is merely exemplary in nature and is notintended to limit the present disclosure, application, or uses. Itshould be understood that throughout the drawings, correspondingreference numerals indicate like or corresponding parts and features.

The term “transponder” is used in the disclosure and the claims to referto an apparatus, system, module or device that may provide informationsubstantially continuously, periodically, and/or occasionally. Althougha “transponder” in accordance with various implementations may provideinformation in response to a poll, query or other request, it mayadditionally or alternatively provide information in the absence of apoll, query or other request.

The present disclosure, in various implementations, is directed to atransponder module and system configured to determine and communicatevehicle conditions and capabilities. Configurations of the transpondermodule and system can be implemented in relation to substantially alltypes of vehicles in which sensor information is provided, including butnot limited to air, land, space, and/or water vehicles. In variousimplementations, changing vehicle conditions and capabilities aredetermined in realtime. Information as to the determined vehicleconditions and/or capabilities may be provided to a control system onboard the subject vehicle and/or to one or more off-board systems, e.g.,to system(s) used by mission planners to plan and/or execute a missionthat includes use of the vehicle.

In various configurations, sensors of a vehicle may be connected with atransponder module to form a system for determining and communicatingvehicle condition and capabilities. One configuration of a transpondermodule is indicated generally in FIG. 1 by reference number 20. Themodule 20 includes a vehicle sensor input interface 24 having aplurality of wired and wireless sensor interfaces indicated generally as28. The input interface 24 is capable of receiving sensor input from aplurality of different types of vehicle sensors and from a plurality ofdifferent types of vehicles. In some configurations the input interface24 is substantially universal. The interface 24 is capable ofcommunicating, for example, via discrete, analog, wired and/or wirelesssignals and/or via data bus. In various configurations, the module 20 isdesigned to be installed on substantially any type of vehicle. It shouldbe noted, however, that implementations are contemplated in which aninput interface may be specifically configured for a particular vehicletype.

The module 20 includes a computing system 32 having one or moreprocessors 36 and memory 40. Some of the memory 40 is static memory forstorage of, e.g., information corresponding to a vehicle in which themodule 20 is to be configured. When the module 20 is configured in agiven vehicle, a vehicle type and vehicle systems information for thegiven vehicle are stored in the memory 40. When, e.g., the given vehicleis in operation, the processor(s) 36 and memory 40 receive vehiclesensor input data via the input interface 24 in real time. Theprocessor(s) 36 use, e.g., the sensor input data, vehicle type andvehicle system information to determine conditions, in real time, of aplurality of subsystems of the given vehicle. Based on the determinedconditions, the processor(s) 36 determine real-time and/or futureperformance capabilities of the given vehicle. The term “real time” isused to mean essentially instantaneous.

The computing system 32 also includes, e.g., dynamic memory, softwareprograms for processing input data to compute conditions of vehiclesubsystems and components, and software programs that process input dataand computed vehicle condition information to compute capabilities of avehicle. The processor(s) 36 may use software agents and may executedecision tables, neural networks, physical models, and perform othercomputational functions in determining vehicle conditions and/orcapabilities as further described below.

The module 20 also includes an output interface 44 for outputtinginformation via wired or wireless communication devices, for example, toone or more systems or subsystems that may or may not be onboard avehicle. In various implementations the output communication interface44 is modular and supports various combinations of commonly usedoptical, wired, and/or wireless methods. Such methods include, e.g.,optical and wire point-to-point and/or multiplexed communication systemsand protocols, and bluetooth, WiFi, WiMAX, cellular, satellite, andother wireless communication methods. Output information that may bedetermined and communicated by the module includes 1) vehicle typeinformation, 2) vehicle condition information, and/or 3) vehiclecapabilities information. The module 20 communicates componentconditions and vehicle capabilities to other systems, e.g., to enablemaintenance planning, mission planning, or any combination thereof. Insome implementations, various functions performed in determining vehicleconditions and capabilities may be performed off-board a vehicle, e.g.,by processors of an off-vehicle management system.

The module 20 may be electrically powered in various ways, e.g., by avehicle in which the module 20 is included. Additionally oralternatively, power may be provided via a self-contained component,using any of a plurality of combinations of energy storage and/or energyharvesting devices. In some implementations, to install the module 20 ina vehicle, a “personality” module providing at least (a) a type of thevehicle and (b) information describing a suite of sensors associatedwith the vehicle type is loaded to static memory 40 of the module 20.The input and output interfaces 24 and 44 are connected respectivelywith appropriate input sensors and output devices in the vehicle. Insome configurations, the module 20 is included in a singleline-replaceable unit (LRU) of the vehicle.

Examples of vehicle types relative to which the module 20 may beinstalled include, without limitation, fixed-wing flight vehicles,rotorcraft flight vehicles, wheeled land vehicles, tracked landvehicles, hovercraft land vehicles, surface watercraft, underwaterwatercraft, reusable spacecraft, expendable spacecraft, orbiterspacecraft, rover spacecraft, and other or additional categories andclasses of vehicles.

In various implementations, the processor(s) 36 use vehicle sensor inputinformation to determine current and/or predicted future conditions ofvehicle components. Conditions of vehicle components can vary dependenton, e.g., component age, operating environment, and/or actual componentusage. Vehicle component condition information determined by theprocessor(s) 36 can include but is not necessarily limited to thefollowing: battery remaining useful life in terms of time, batteryremaining useful life in terms of mission task cycles, fuel quantity,vehicle weight, structure health in terms of number of remaining cycles,structure health in terms of maximum load capacity, structure health interms of thermal limits, remaining useful life of various subsystemcomponents in terms of time, remaining useful life of various subsystemcomponents in terms of cycles, component failures, changes inaerodynamic performance parameters, changes in energy usage rate, andother parameter measurements and computed predictions that provideindication of system conditions.

Vehicle component conditions may be determined, for example, usingmodel-based and/or non-model-based algorithms, including but not limitedto those commonly used in the practice of prognostic vehicle healthmanagement. Such algorithms may use, e.g., design reliability data,usage history, actual measured component operating parameters, plannedfuture use, etc., individually and/or in combination(s). Algorithms maybe implemented using traditional and/or agent-based software programmingmethods that allow serial and/or parallel processing. Standard databaseschemas and information models may be used in implementations of thetransponder module 20. In such manner, e.g., software libraries may beused, software libraries may be loaded to hardware, and appropriateconnections to external inputs and outputs may be established.

Current and predicted future conditions of vehicle components can bedetermined and provided, for example, to optimize the planning ofmaintenance of the vehicle. Vehicle capabilities may be determined bythe processor(s) 36 using, e.g., vehicle design specifications,installed subsystem configuration information, vehicle operatingconditions, vehicle and subsystems state, component conditions, etc.,individually and/or in combination(s). Various model-based and/ornon-model-based algorithms and methods, including but not limited tothose commonly used in the practice of engineering, may be used todetermine vehicle capability information. Such algorithms and methodsmay be implemented using traditional and/or agent-based softwareprogramming methods that allow sequential and/or parallel processing.

Vehicle capability information can include but is not necessarilylimited to the following: maximum acceleration, maximum braking(deceleration) rate, maximum speed, minimum speed, minimum turn radius,maximum range, maximum endurance, mission on-board sensors type (e.g.,types available under current conditions), mission off-board sensorstype (e.g., types available under current conditions), mission sensorsperformance, maximum payload weight, payload type, communications systemtype (e.g., types available under current conditions), maximum climbrate, and other or additional static and dynamic vehicle performancemetrics and/or limits.

In one exemplary implementation, a transponder module determinesconditions of components and subsystems of an aircraft. The determinedconditions may be used in determining capabilities of the aircraft, forexample, as shall now be discussed with reference to FIG. 2. A diagramof models used by transponder module processor(s) in implementing amethod of determining aircraft conditions and capabilities is indicatedgenerally in FIG. 2 by reference number 100. For purposes of providingan example, modeling of a battery of the aircraft is shown in anddiscussed herein with reference to FIG. 2. Although other components andsubsystems of the aircraft are not discussed in detail, it should beunderstood that the same or similar methods as those discussed withreference to the battery may be applied in relation to other componentsand/or subsystems of the aircraft.

In the present example, the aircraft battery is monitored to providereal-time battery diagnostics and prognostics. Real-time sensor datareceived via the input interface 24 (shown in FIG. 1) includes batteryvoltage, battery current, and battery temperature, indicatedcollectively in FIG. 2 by reference number 104. The sensor data 104 areinput to a battery model 108, which is implemented to determine areal-time state-of-charge (SOC) 112, e.g., in milliamp hours (mAh) and aminimum allowable state-of-charge (SOC) 116, e.g., in milliamp hours(mAh). It should be noted that although various units of measurement arementioned in the disclosure and shown in the Figures, the disclosure isnot so limited.

Sensor data received via the input interface 24 also includes a reading120 from a thermistor that measures battery temperature. The thermistorinput 120 and a battery thermal model 124 are used in a sensor integritymodel 128, which is implemented to determine whether the thermistor fromwhich the reading 120 was obtained is operating properly. Implementingthe sensor integrity model 128 results in an output 132 indicating thethermistor condition, e.g., whether the thermistor is good or bad. Thediagnostic output 132 may be used in other or additional modeling and/oralgorithmic calculations and may be input as one of a plurality ofvehicle conditions to a vehicle capability model 136.

The vehicle capability model 136 is used to model relationship(s)between aircraft conditions and dynamic and payload capabilities of theaircraft. Thus the capability model 136 is implemented using informationas to aircraft conditions. Condition-related information used in thecapability model 136 includes, without limitation, condition data 140for other subsystems of the aircraft, as well as the state-of-chargecondition data 112 and 116 for the battery. The condition data 140 forother subsystems and components may be determined in various ways,including but not limited to model-based methods as previouslydiscussed.

The capability model 136 may receive input 144 from a mission systemmodel 148 that describes, e.g., a mission profile. A mission profile mayinclude tasks and their duration, e.g., take-off, land, waypoint flight,running a sensor, running a communication link for a certain duration.The mission profile may also include environmental parameters, e.g., anambient temperature profile. A profile might specify, for example, thatthe aircraft is to fly in freezing temperatures for a certain duration,and then in a milder environment for a certain duration.

Included in the capability model 136 is a model 152 for modelingcapabilities of the battery in relation to overall vehicle capabilities.Data used in the capability model 136 includes, among other things,current and/or power consumption and minimum operating voltage ofvarious sensors of the aircraft. The sensor inputs can be used in thecapability model 136, for example, to determine a discharge profile(e.g., expressed as current versus time) for the battery based on aninput mission profile 156. The capability model 136 may also include athermal model of the battery that may be used to predict batterytemperature based on a discharge profile.

The capability model 136 may be adjusted substantially continuously inaccordance with real-time integrated vehicle health monitoring (IVHM)diagnostic data 160 from an IVHM system of the aircraft. Capabilityadjustments determined in the capability model may be provided, e.g., tothe mission system model 148, in which feasibility of tasks and/or amission may be adjusted to account for the change in capability. Forexample, if a motor of the aircraft is determined to be drawingincreased current due to increased friction, the capability model 136may determine endurance 164 based on the increased motor powerconsumption. The revised (in this case, decreased) endurance may be usedin the mission system model 148 to change a feasibility evaluation for atask and/or mission.

Other subsystems of the aircraft may be modeled in ways similar to thosedescribed above for the battery to provide the condition data 140 forthe other subsystems to the capability model 136. It should be notedgenerally that vehicle subsystem behavior and conditions, as well asrelationships among vehicle conditions and vehicle capabilities, may bedetermined in various ways including, in addition to, or instead ofmodeling as shown above.

Referring again to FIG. 1, the module 20 may output information as tovehicle conditions and capabilities via the wired and/or wireless outputinterface 44 to one or more systems or subsystems, including but notlimited to subsystem(s) of the vehicle itself. Output parameters can,e.g., be defined by a user or selected from a predefined list. Featuresof output parameters such as engineering units, update rate, and/orother information describing the parameter information may be includedwith the parameter definition. Output parameter features arecommunicated along with actual parameter values, e.g., to user(s) of theinformation. Examples of output parameter features include: “‘Minimumturn radius at current time’ units=feet, update rate=1 second” and“‘Minimum turn radius 10 minutes from current time’, units=feet, updaterate=1 minute”.

Information from a transponder module 20 may be used onboard and/oroff-board a vehicle that includes the module. A diagram of a vehicle inwhich transponder module information is used is indicated generally inFIG. 3 by reference number 200. Condition and capability information 204from the module 20 (occasionally referred to in the disclosure as“Common Vehicle Condition and Capabilities System”, or “CVCCS”) isoutput, e.g., to operator displays 208, an autopilot 212, a navigationcomputer 216, a vehicle control computer 218, and/or a vehicle subsystemcontrol computer 220 of the vehicle.

A diagram illustrating use of transponder module information off-board avehicle is indicated generally in FIG. 4 by reference number 250.Aircraft 254 a-254 d transmit transponder module information tocomputers 258 for use, e.g., by air traffic controllers. It should benoted that the aircraft 254 a-254 d are of different types, i.e.,military aircraft 254 a, transport jets 254 b, helicopters 254 c, andsmall airplanes 254 d. Another use of transponder module informationoff-board a vehicle is indicated generally in FIG. 5 by reference number300. Launch vehicles, satellites, orbital spacecraft, and space roverscollectively numbered 310 transmit transponder module information toground station computers 316 for use by ground station operators.

A diagram illustrating use of transponder module information to supportautonomous operations of a plurality of vehicles is indicated generallyin FIG. 6 by reference number 350. Information 354 as to conditions andcapabilities of aircraft, watercraft and other vehicles collectivelynumbered as 358 is transmitted to a mission planning system 362. Vehiclecondition and capabilities information may be used, e.g., in assigningtasks to the vehicles, mission task planning, vehicle navigationplanning (e.g., in relation to time/space trajectory planning for anaerial vehicle), control adaptation in response to degraded or changedvehicle capabilities, remaining useful life contingency planning, andother or additional health-adaptive command and control functions.

Based on the type of vehicle configured with a transponder module 20,the module itself may be completely onboard a vehicle, e.g., fullycontained in a single line replaceable unit (LRU), or distributed amongthe vehicle, vehicle subsystems, and/or ground based systems. A diagramillustrating distribution of transponder module functions between avehicle and a system off-board the vehicle is indicated generally inFIG. 7A by reference number 400. Various computing functions of atransponder module 404 may be distributed between a vehicle 408 and oneor more management systems 412.

A diagram illustrating another distribution of transponder modulefunctions is indicated generally in FIG. 7B by reference number 450.Various transponder module functions 454 may be distributed betweensubsystems 458 and 462 of a vehicle 466. Condition and capabilitiesinformation 468 is sent to one or more management systems 470. Vehiclesubsystems 458 and/or 462 may include one or more actuators for use inoperating the vehicle 466. In such case, operational control of thevehicle 466 may be modified in response to transponder module conditionand capabilities information.

Various implementations of the disclosure provide local (i.e., on-board)condition and capability information for safety-critical decision-makingand control adaptation within a vehicle control system. A missioncommand and control system can dynamically assign a plurality ofvehicles of various types to perform specific tasks based on individualvehicle conditions and capabilities. Implementations of the disclosureprovide information that enables management of vehicle operations byhumans and, additionally or alternatively, autonomous mission managementand task planning devices. Information provided by such a system is alsouseful for optimal planning of vehicle maintenance.

In some implementations, it is contemplated that air, ground, and spacevehicles would be configured as modular multi-use platforms. A givenvehicle, then, might be reconfigurable, e.g., as a transport vehicle,surveillance sensor platform, and/or weapons delivery vehicle. Airplanesand helicopters are contemplated as modular systems composed offuselage/payload, engines, wings, avionics, mission systems, andsensors. Reusable launch vehicle spacecraft could also be modularsystems composed of main engines, solid rocket boosters, external tank,thermal protection systems, and a variety of crew station and otherpayload and mission modules attached via common adapter interfaces.Orbiter spacecraft, such as satellites, may also be modular in that theyare composed of a primary frame structure, engines, major subsystemsconsisting of power supply and distribution systems, navigation systems,onboard processing systems, thermal management systems and payloadconsisting of fuel, weapons system, optics, command and telemetrycommunication systems, and/or scientific instruments. The ability toknow the capabilities of a vehicle based on its configuration can behighly valuable if not essential in mission planning and networkedoperation of reconfigurable multi-role platforms. In variousimplementations of the disclosure, the capabilities of suchreconfigurable vehicles can be computed using input signals from thevehicle modular systems and vehicle type information stored in memory.

Air vehicles are also contemplated as having shape-changing (morphing)capabilities. As a vehicle morphs, its capabilities (e.g., turn radius,endurance, etc.) can change dramatically in a very short amount of time.The ability to know the capabilities of such a vehicle in real-time canbe highly valuable if not essential for mission planning and autonomousoperations. In various implementations of the disclosure, capabilitiesof such a vehicle can be computed in realtime based on its morphedstate. Thus, vehicle control, mission planning, and autonomous operationcan be performed in an optimal manner.

An architecture and functional elements to perform health-based missionplanning, resource allocation, and task allocation is indicatedgenerally in FIG. 8 by reference number 500. In the presentimplementation, a condition and capabilities matrix 510 includingvehicle condition and capabilities information is used by a missionplanning function 502 that communicates with a plurality of vehiclesavailable as resources in a mission. Each vehicle is configured with atransponder module as previously described. An agent-based process ofdetermining vehicle condition and capabilities may be used to determinethe condition and capabilities information included in the matrix 510.The matrix 510 is shown in greater detail in FIG. 9.

Referring again to FIG. 8, the mission planning function 502communicates with optimization functions indicated generally byreference number 504. Optimization functions 504 may be used incombination, e.g., to compute dispatch and recall instructions 506 tovehicles and command signals 508 to vehicle systems and controllers.Optimization functions 504 may include, but are not limited to, programsthat compute sub-goals 550, event plans 554, simulation analysis 558,task plans 562, resource allocation 566, systems schedules and vehicleguidance 570, trajectories 574, systems adaptation 578, and vehicle andflight adaptation and control 582.

Referring now to FIG. 9, mission resources are vehicles, which may be ofdifferent types. Resources are identified by number in a column 616 anddescribed in a column 620. Capabilities 624 for each vehicle areidentified by number in a row 628 and described in a row 632. Conditions636 for each vehicle also are identified by number in the row 628 anddescribed in the row 632. Software agents 640 obtain condition andcapabilities information from the transponder module of each vehicle.The information is used to update cells 644 of the matrix in real time.Thus the matrix 510 provides a mission-wide view of vehicle capabilitiesand conditions in real time.

Various implementations of the foregoing transponder modules and systemscan be used in many different environments, including but not limited toair traffic management. An ability to provide vehicle condition, vehiclecapabilities, or any combination thereof, to air traffic controllers canenhance the efficiency and safety of air transportation. Furthermore,vehicle condition and capabilities information provided by the foregoingtransponder module and system can promote safe and optimal performanceof air traffic management advisory systems and autonomous air trafficmanagement systems.

Marine traffic management is another environment in whichimplementations of the foregoing transponder module and systemconfigurations can be useful. The ability to provide vehicle condition,vehicle capabilities, or any combination thereof to maritime vehiclecaptains, maritime traffic controllers, emergency responders, or anycombination thereof, can enhance the efficiency and safety of maritimevessels.

The disclosure can also be implemented in relation to personalautomobile, highway transport vehicle, and highway traffic management.The ability to provide automobile condition and capabilities, highwaytransport vehicle condition and capabilities, or any combinationthereof, to vehicle drivers, vehicle autonomous subsystems, and highwaytraffic management systems can enhance the efficiency and safety ofhighway transportation.

Implementation is also contemplated in connection with heterogeneousteams of vehicles used, e.g., in disaster relief, search and rescue,security, and/or defense applications. The ability to provide vehiclecondition and capabilities information to mission strategists, taskassignment schedulers, vehicle mission and trajectory planners, vehiclecontrol distributors, subsystem control adaptation, or any combinationthereof, can enhance the probability of achieving overall missionobjectives. Furthermore, the providing of vehicle condition andcapability information to such adaptive systems makes it possible tocalculate a theoretical probability of mission success.

Inhabited and Uninhabited Aircraft and Spacecraft

The ability to provide aircraft condition and capabilities informationto pilots or autonomous flight management systems can enhance theefficiency, safety, and mission reliability of aircraft operations. Theability to provide spacecraft condition and capabilities information tocrew and/or ground station operators as well as to autonomous missionmanagement systems can enhance the efficiency, safety, and missionreliability of spacecraft operations. In addition, condition andcapabilities monitoring of reusable launch vehicles can help meet needsof quick-turnaround “aircraft-like reusable access to space.” Forinstance, reusable launch vehicle maintenance and asset launchscheduling may be performed based on the transponder-module-monitoredcapabilities of each individual vehicle to perform a given payload andorbit mission type. Also, on-orbit refueling, reconfiguring, or repairof otherwise expendable satellites could be performed by one or morerefuel/repair spacecraft in an optimized manner by coordinating therepositioning of satellite constellations, each with known limited fuelsupply (range) and maneuverability, to minimize the overall system costof performing the repositioning task while ensuring that all rendezvouspoints are achievable, the desired refuel/repair is completed in theallotted time, and the overall satellite constellation continues to meetfunctional requirements.

Planning missions, assigning tasks to vehicles, and coordinating eventsin multi-vehicle operating environments can be optimized when knowledgeof individual vehicle component conditions and vehicle capabilities ismade available. In various implementations of the disclosure, thisinformation can be provided from a variety of vehicles and vehicle typesin a standard form.

The terminology used herein is for the purpose of describing particularexample embodiments only and is not intended to be limiting. As usedherein, the singular forms “a”, “an” and “the” may be intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. The terms “comprises,” “comprising,” “including,” and“having,” are inclusive and therefore specify the presence of statedfeatures, integers, steps, operations, elements, and/or components, butdo not preclude the presence or addition of one or more other features,integers, steps, operations, elements, components, and/or groupsthereof. The method steps, processes, and operations described hereinare not to be construed as necessarily requiring their performance inthe particular order discussed or illustrated, unless specificallyidentified as an order of performance. It is also to be understood thatadditional or alternative steps may be employed. Further, it should beunderstood that unless the context clearly indicates otherwise, the term“based on” when used in the disclosure and/or the claims includes “atleast partly based on”, “based at least in part on”, and the like.

While various embodiments have been described, those skilled in the artwill recognize modifications or variations which might be made withoutdeparting from the present disclosure. The examples illustrate thevarious embodiments and are not intended to limit the presentdisclosure. Therefore, the description and claims should be interpretedliberally with only such limitation as is necessary in view of thepertinent prior art.

1. A transponder module for vehicles comprising: a substantiallyuniversal vehicle sensor input interface capable of receiving sensorinput from a plurality of different types of vehicle sensors and from aplurality of different types of vehicles; and one or more processors andmemory configured to, in real time: receive vehicle sensor input datavia the input interface; based on a vehicle type when stored in thememory, use the sensor input data to determine conditions of a pluralityof subsystems of a vehicle of the stored vehicle type; and based on thedetermined conditions, determine a plurality of performance capabilitiesof a vehicle of the stored vehicle type; the transponder module furtherconfigured to output information as to the stored vehicle type,determined conditions, and vehicle performance capabilities.
 2. Thetransponder module of claim 1, included in a line replaceable unit (LRU)of a vehicle having a given vehicle type, the given vehicle type storedin the memory.
 3. The transponder module of claim 1, the one or moreprocessors further configured to use data from an integrated vehiclehealth management (IVHM) system of a vehicle of the stored vehicle typeto determine the capabilities.
 4. The transponder module of claim 1,distributed among two or more vehicle subsystems.
 5. The transpondermodule of claim 1, the one or more processors further configured todetermine performance capabilities based on a mission profile.
 6. Thetransponder module of claim 1, wherein configured to determineconditions and performance capabilities comprises configured todetermine future conditions and performance capabilities.
 7. A systemfor determining vehicle conditions and capabilities, the systemcomprising: a vehicle having a plurality of sensors; a transpondermodule connected with the sensors via a substantially universal vehiclesensor input interface of the module, the module having one or moreprocessors and memory configured to, in real time: receive vehiclesensor input data via the input interface; based on a type of thevehicle stored in the memory, use the sensor input data to determineconditions of a plurality of subsystems of the vehicle; and based on thedetermined conditions, determine a plurality of performance capabilitiesof the vehicle; the transponder module further configured to outputinformation as to the stored vehicle type, determined conditions, andvehicle performance capabilities; the system further comprising one ormore control systems configured to perform one or more control functionsbased on the transponder module output information.
 8. The system ofclaim 7, wherein the transponder module is included in one or moresubsystems of the vehicle.
 9. The system of claim 7, wherein at leastsome functions performed by the transponder module are performed apartfrom the vehicle.
 10. The system of claim 7, wherein the one or morecontrol systems comprise one more subsystems of the vehicle.
 11. Thesystem of claim 7, wherein at least one of the one or more controlsystems is off-board the vehicle.
 12. The system of claim 7, wherein atleast one of the one or more control functions performed by the one ormore control systems includes controlling one or more subsystems of thevehicle.
 13. A vehicle comprising: a plurality of sensors; an integratedvehicle health management (IVHM) system; and a transponder modulehaving: a vehicle sensor input interface that receives sensor input froma plurality of different sensors of the vehicle; and one or moreprocessors and memory configured to, in real time: receive sensor inputdata from the vehicle via the input interface; use the sensor input datato determine conditions of a plurality of subsystems of the vehicle; andbased on the determined conditions and on data provided by the IVHMsystem, determine a plurality of performance capabilities of thevehicle.
 14. The vehicle of claim 13, the one or more processorsconfigured to determine the conditions and performance capabilitiesbased on a type of the vehicle stored in the memory.
 15. The vehicle ofclaim 14, the module further comprising an output interface configuredto output information as to the stored vehicle type, the determinedconditions, and the vehicle performance capabilities.
 16. The vehicle ofclaim 13, reconfigurable, the one or more processors and memory furtherconfigured to determine conditions and capabilities for more than oneconfiguration of the vehicle.
 17. The vehicle of claim 13, capable ofchanging shape, the one or more processors and memory further configuredto determine conditions and capabilities for the vehicle as the shape ischanged.
 18. A method of providing conditions and capabilities of avehicle, the method performed by a transponder module of the vehicle,the method comprising: receiving sensor information in real time from aplurality of sensors of the vehicle; based on a type of the vehiclestored in a memory, using the sensor information to determine currentand/or projected conditions of a plurality of subsystems of the vehicle;based on the determined conditions and on data from an integratedvehicle health management (IVHM) system of the vehicle, determining aplurality of current and/or projected capabilities of the vehicle. 19.The method of claim 18, further comprising outputting the determinedconditions and capabilities to a system for controlling the vehicle. 20.The method of claim 18, further comprising outputting the determinedconditions and capabilities to a mission control system.
 21. A method ofusing one or more vehicles to perform a mission, the method comprising:receiving, from a transponder module of each of the one or morevehicles, information describing a plurality of current subsystemconditions and a plurality of current capabilities of each vehicle;using the information in real time to update conditions and capabilitiesfor each vehicle in a mission capabilities matrix; based on the updatedmatrix, performing one or more of the following: controlling at least acomponent of one of the one or more vehicles; modifying a task of one ofthe one or more vehicles; and modifying the mission.
 22. The method ofclaim 21, wherein a plurality of vehicles are used, the vehicles havingdifferent types.
 23. The method of claim 21, wherein the missionincludes one or more of the following: air traffic management, maritimetraffic management, road vehicle traffic management, and space trafficmanagement.
 24. The method of claim 21, comprising including thetransponder module in a line replaceable unit (LRU) of one of the one ormore vehicles.
 25. The method of claim 21, wherein the receiving isperformed apart from the one of the one or more vehicles.
 26. The methodof claim 21, wherein the controlling is performed by the one of the oneor more vehicles.
 27. A system for performing a mission comprising: aplurality of vehicles to which one or more tasks of the mission areassigned, each vehicle having a transponder module configured to provideinformation in real time describing a plurality of current subsystemconditions and a plurality of current capabilities of the vehicle; and amission control system having at least one processor and memoryconfigured to receive the information in real time from the vehicletransponder modules, and based on the information, to perform one ormore functions in real time to optimize the mission.
 28. The system ofclaim 27, the at least one processor and memory further configured toissue a control command to control one of the vehicles.
 29. The systemof claim 27, the at least one processor and memory further configured tomodify a task of one of the vehicles.
 30. The system of claim 27,wherein the vehicles are heterogeneous.